滑りを伴う多脚ロボットの運動モデリングと実験的検証
Modeling multi-legged robot locomotion with slipping and its experimental validation
滑りを伴う多脚ロボットの足の接触力を詳細に測定し、接触力と機体速度を予測するアルゴリズムを提案し、実験的に検証した。
著者: Ziyou Wu, Dan Zhao, Shai Revzen
分類: cs.RO
原文アブストラクト
Multi-legged robots with six or more legs are not in common use, despite designs with superior stability, maneuverability, and a low number of actuators being available for over 20 years. This may be in part due to the difficulty in modeling multi-legged motion with slipping and producing reliable predictions of body velocity. Here we present a detailed measurement of the foot contact forces in a hexapedal robot with multiple sliding contacts, and provide an algorithm for predicting these contact forces and the body velocity. The algorithm relies on the recently published observation that even while slipping, multi-legged robots are principally kinematic, and employ a friction law ansatz that allows us to compute the shape-change to body-velocity connection and the foot contact forces. This results in the ability to simulate motion plans for a large number of potentially slipping legs. In homogeneous environments, this can run in (parallel) logarithmic time of the planning horizon
